def call_service(node_handle, service, args=None):
# Given the service name, fetch the type and class of the service,
# and a request instance
# This should be equivalent to rospy.resolve_name.
service = expand_topic_name(service, node_handle.get_name(),
node_handle.get_namespace())
service_names_and_types = dict(node_handle.get_service_names_and_types())
service_type = service_names_and_types.get(service)
if service_type is None:
raise InvalidServiceException(service)
# service_type is a tuple of types at this point; only one type is supported.
if len(service_type) > 1:
node_handle.get_logger().warning(
'More than one service type detected: {}'.format(service_type))
service_type = service_type[0]
service_class = get_service_class(service_type)
inst = get_service_request_instance(service_type)
# Populate the instance with the provided args
args_to_service_request_instance(service, inst, args)
client = node_handle.create_client(service_class, service)
future = client.call_async(inst)
spin_until_future_complete(node_handle, future)
if future.result() is not None:
# Turn the response into JSON and pass to the callback
json_response = extract_values(future.result())
else:
raise Exception(future.exception())
return json_response
def get_service_request_typedef_recursive(servicetype):
""" Returns a list of typedef dicts for this type and all contained type fields """
# Get an instance of the service request class and get its typedef
instance = ros_loader.get_service_request_instance(servicetype)
typedef = _get_typedef(instance)
# Return the list of sub-typedefs
return _get_subtypedefs_recursive(typedef, [])
def get_service_request_typedef_recursive(servicetype):
""" Returns a list of typedef dicts for this type and all contained type fields """
# Get an instance of the service request class and get its typedef
instance = ros_loader.get_service_request_instance(servicetype)
typedef = _get_typedef(instance)
# Return the list of sub-typedefs
return _get_subtypedefs_recursive(typedef, [])
def test_irregular_servicenames(self):
irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
"/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
"roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
"roscpp//GetLoggers//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
def test_irregular_servicenames(self):
irregular = ["roscpp//GetLoggers", "/roscpp/GetLoggers/",
"/roscpp/GetLoggers", "//roscpp/GetLoggers", "/roscpp//GetLoggers",
"roscpp/GetLoggers//", "/roscpp/GetLoggers//", "roscpp/GetLoggers/",
"roscpp//GetLoggers//"]
for x in irregular:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_response_instance(x), None)
def test_srv_cache(self):
common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
"std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
"sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
"topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
"rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
for x in common:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(ros_loader.get_service_response_instance(x), None)
self.assertTrue(x in ros_loader._loaded_srvs)
def test_srv_cache(self):
common = ["roscpp/GetLoggers", "roscpp/SetLoggerLevel",
"std_srvs/Empty", "nav_msgs/GetMap", "nav_msgs/GetPlan",
"sensor_msgs/SetCameraInfo", "topic_tools/MuxAdd",
"topic_tools/MuxSelect", "tf2_msgs/FrameGraph",
"rospy_tutorials/BadTwoInts", "rospy_tutorials/AddTwoInts"]
for x in common:
self.assertNotEqual(ros_loader.get_service_class(x), None)
self.assertNotEqual(ros_loader.get_service_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_request_instance(x), None)
self.assertNotEqual(
ros_loader.get_service_response_instance(x), None)
self.assertTrue(x in ros_loader._loaded_srvs)
def call_service(service, args=None):
# Given the service name, fetch the type and class of the service,
# and a request instance
service_type = get_service_type(str(service))
if service_type is None:
raise InvalidServiceException(service)
service_class = get_service_class(service_type)
inst = get_service_request_instance(service_type)
# Populate the instance with the provided args
args_to_service_request_instance(service, inst, args)
# Call the service
proxy = ServiceProxy(service, service_class)
response = proxy.call(inst)
# Turn the response into JSON and pass to the callback
json_response = extract_values(response)
return json_response
def call_service(service, args=None):
# Given the service name, fetch the type and class of the service,
# and a request instance
service_type = get_service_type(str(service))
if service_type is None:
raise InvalidServiceException(service)
service_class = get_service_class(service_type)
inst = get_service_request_instance(service_type)
# Populate the instance with the provided args
args_to_service_request_instance(service, inst, args)
# Call the service
proxy = ServiceProxy(service, service_class)
response = proxy.call(inst)
# Turn the response into JSON and pass to the callback
json_response = extract_values(response)
return json_response
def get_service_request_typedef(servicetype):
""" Returns a typedef dict for the service request class for the specified service type """
# Get an instance of the service request class and return its typedef
instance = ros_loader.get_service_request_instance(servicetype)
return _get_typedef(instance)
def get_service_request_typedef(servicetype):
""" Returns a typedef dict for the service request class for the specified service type """
# Get an instance of the service request class and return its typedef
instance = ros_loader.get_service_request_instance(servicetype)
return _get_typedef(instance)